CN110369986B - Automatic assembling device for micro thread pair - Google Patents
Automatic assembling device for micro thread pair Download PDFInfo
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- CN110369986B CN110369986B CN201910631469.8A CN201910631469A CN110369986B CN 110369986 B CN110369986 B CN 110369986B CN 201910631469 A CN201910631469 A CN 201910631469A CN 110369986 B CN110369986 B CN 110369986B
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Abstract
The invention discloses an automatic assembling device for a micro thread pair, and belongs to the field of automatic assembly of micro parts. The device comprises a thread pair assembly module, a screw clamping module and a workbench module. The screw assembly module is used for assembling the tiny screw pair and controlling torque required by assembly, the screw clamping module is used for automatically picking up tiny screws for transportation, the workbench module is used for clamping parts to be assembled and adjusting pose, and the screw assembly module, the screw clamping module and the workbench module work in a coordinated mode in the assembly process to jointly complete automatic assembly of the tiny screw pair without manual intervention. Meanwhile, the screw clamping module can go deep into the narrow space inside the part for assembly operation, and the automation degree and the assembly efficiency are improved.
Description
Technical Field
The invention belongs to the field of automatic assembly of tiny parts, and particularly relates to an automatic assembly device for a tiny thread pair.
Background
With the development of microminiaturization of mechanical products, the precision assembly technology also faces new challenges. At present, the research on the automatic assembly technology of the thread pair generally aims at the thread fastener with larger macroscopic size, and the research on the automatic assembly technology of the thread of the micro-miniature part is still little. For the precise assembly of a micro-thread pair, such as the assembly of the micro-thread pair in a gyroscope mechanical part of an infrared seeker position marker, a plurality of threaded holes in the same part need to be provided with screws, the assembly is mainly completed manually at present, the production efficiency is low, the assembly consistency is poor, and the one-time assembly and adjustment yield is low. The development of advanced precise automatic assembly technology of the tiny thread pair is an effective way for improving assembly efficiency and assembly quality.
The application number is CN 103157986A's patent, discloses vice automatic assembly machine of screw thread for the vice external screw thread part of screw thread and the automatic assembly of internal thread part, including external screw thread part automatic feeding sequencing module, vice automatic assembly module of screw thread and internal thread part automatic feeding sequencing module, can accomplish the guide work of external screw thread part, the vice assembly work of closing soon of screw thread and output finished product work. Patent application No. CN108907691A discloses a vice automatic tightening device of screw thread, can screw up the vice screw thread on the frock clamp. The automatic assembling device for the thread pair disclosed in the patent is developed aiming at internal and external thread parts with large macroscopic size and is not suitable for automatic assembling of a micro thread pair.
The patent with the application number of CN104259836A discloses an automatic picking and assembling device for micro thread pair parts, which mainly comprises a clamping finger tightening unit, a torque sensor unit and a driving unit. Although the automatic picking and assembling of the tiny thread pair can be realized, the clamping device has a relatively large size and cannot stretch into the part with a narrow operation space for assembling, and if a certain part is provided with a plurality of threaded holes, screws need to be installed, the automatic picking and assembling device for the tiny thread pair part is not suitable any more.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides an automatic assembly device for a tiny thread pair, which aims to solve the problem that the assembly cannot be carried out in a narrow space in a part and can meet the screw assembly requirement of a plurality of threaded holes in one part.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an automatic assembling device for a tiny thread pair comprises an optical platform 4, and a thread pair assembling module 1, a screw clamping module 2 and a workbench module 3 which are arranged on the optical platform 4.
Further, the screw pair assembly module 1 comprises a stepping motor 5, a stepping motor mounting plate 6, a coupler a7, a torque sensor 8, a coupler b9, a bearing seat 10, a micro ball bushing guide assembly 11, a collar 12, a screw driver 13, a screw pair assembly module X-axis precise displacement sliding table 14, a screw pair assembly module Y-axis precise displacement sliding table 15 and a vertical welding seat a 16.
Further, the vertical type soldering seat a16 is installed on the optical platform 4; the X-axis precise displacement sliding table 14 of the thread pair assembly module is arranged on the vertical welding seat a16, the Y-axis precise displacement sliding table 15 of the thread pair assembly module is arranged on the mounting surface of the X-axis precise displacement sliding table 14 of the thread pair assembly module, and the X-axis precise displacement sliding table 14 of the thread pair assembly module and the Y-axis precise displacement sliding table 15 of the thread pair assembly module are mutually vertical to form an XY two-degree-of-freedom precise displacement sliding table together for adjusting the position of the screw driver 13; the stepping motor mounting plate 6 is an L-shaped plate, the horizontal end of the stepping motor mounting plate is mounted on the mounting surface of the Y-axis precise displacement sliding table 15 of the screw pair assembly module, and the horizontal end of the motor mounting plate 6 is perpendicular to the Y-axis precise displacement sliding table 15 of the screw pair assembly module and is parallel to the X-axis precise displacement sliding table 14 of the screw pair assembly module; the stepping motor 5 is arranged at the vertical end of the stepping motor mounting plate 6, and a rotating shaft of the stepping motor 5 penetrates through a through hole at the vertical end of the stepping motor mounting plate 6; one end of the coupler a7 is connected with the rotating shaft of the stepping motor 5, and the other end is connected with the output shaft of the torque sensor 8; the torque sensor 8 is arranged on the stepping motor mounting plate 6 and used for detecting a torque signal during assembly of the micro thread pair; one end of the coupler b9 is connected with an output shaft of the torque sensor 8, and the other end of the coupler b9 is connected with the miniature ball bush guide assembly 11; the miniature ball bush guide assembly 11 is arranged on the bearing seat 10; the bearing seat 10 is arranged on the stepping motor mounting plate 6 and used for supporting the miniature ball bush guide assembly 11; one end of the shaft collar 12 is connected with the suspended end of the miniature ball bush guide assembly 11, and the other end of the shaft collar is connected with the screw driver 13; the thread pair assembly module 1 adjusts the position of the screwdriver 13 through the XY two-degree-of-freedom precision displacement sliding table, drives the screwdriver 13 to rotate through the stepping motor 5 to realize screw installation, and simultaneously monitors torque through the torque sensor 8.
Further, the screw clamping module 2 comprises a screw clamping module Z-axis precise displacement sliding table 17, a screw clamping module Y-axis precise displacement sliding table 18, a screw clamping module X-axis precise displacement sliding table 19, a vertical welding seat b20, a mounting plate 21, a photoelectric sensor 22, a sensor signaling block 23, a pneumatic claw limit stop 24, a linear motor 25, a linear motor mounting plate 26, a linear bearing 27, a screw support mounting plate 28, a guide shaft 29, a pneumatic claw mounting plate 30, a pneumatic claw 31, a micro flange plate 32, a left clamping finger 33, a bearing 34, a right clamping finger 35 and a screw support 36; the X-axis precise displacement sliding table 19 of the screw clamping module is arranged on the vertical welding seat b20, the Y-axis precise displacement sliding table 18 of the screw clamping module is arranged on the installation surface of the X-axis precise displacement sliding table 19 of the screw clamping module, the Z-axis precise displacement sliding table 17 of the screw clamping module is arranged on the installation surface of the Y-axis precise displacement sliding table 18 of the screw clamping module, the Z-axis precise displacement sliding table 17 of the screw clamping module, the Y-axis precise displacement sliding table 18 of the screw clamping module and the X-axis precise displacement sliding table 19 of the screw clamping module are perpendicular to each other in pairs to form an XYZ three-degree-of-freedom precise displacement sliding table together, and the X-axis precise displacement sliding table is used for adjusting the position of a clamped; the mounting surface of the Z-axis precise displacement sliding table 17 of the screw clamping module is provided with a mounting table with a cantilever structure for mounting other equipment; the mounting plate 21 is mounted on a mounting table of the Z-axis precision displacement sliding table 17 of the screw clamping module; the linear motor mounting plate 26 and the air claw mounting plate 30 are both arranged on the mounting plate 21; the linear motor 25 is arranged on the linear motor mounting plate 26, and a rotating shaft of the linear motor 25 penetrates through a through hole in the linear motor mounting plate 26 and is connected to the screw support mounting plate 28 through a micro flange 32; two linear bearings 27 are arranged on the screw supporting and mounting plate 28; the number of the guide shafts 29 is two, and the two guide shafts are respectively arranged on the inner ring of the linear bearing 27 in a sliding manner; one end of the guide shaft 29 is arranged on the linear motor mounting plate 26, and the other end of the guide shaft is arranged on the pneumatic claw mounting plate 30; the linear motor 25 rotates to drive the screw support mounting plate 28 to move on the guide shaft 29; the screw support mounting plate 28 is provided with a bearing 34 for mounting a screw support 36, and the screw support 36 is in interference fit with an inner ring of the bearing 34; the pneumatic claw 31 is arranged on the pneumatic claw mounting plate 30, and the pneumatic claw 31 is provided with a left clamping finger 33 and a right clamping finger 35 which are used for clamping screws; the gas claw limit stop 24 is arranged on the mounting plate 21 and used for limiting the opening stroke of the gas claw 31 and preventing the gas claw 31 from touching the guide shaft 29 when being opened; the photoelectric sensor 22 is arranged on the mounting plate 21; the sensor signaling block 23 is arranged on the screw support mounting plate 28 and is matched with the photoelectric sensor 22 for use, so as to detect the initial position of the screw support 36; the screw clamping module 2 realizes the accurate control of the position of the screw support 36 through the XYZ three-degree-of-freedom precision displacement sliding table and the linear motor 25.
Further, the workbench module 3 comprises a fixed support 37, an elastic support 38, a ball head locking screw 39, a clamp mounting plate 40, a precision rotary table 41 and a precision lifting table 42; the precision lifting platform 42 is arranged on the optical platform 4; the precision rotary table 41 is arranged on the precision lifting table 42; the clamp mounting plate 40 is mounted on the precision rotary table 41; the fixed support 37 and the elastic support 38 are both arranged on the clamp mounting plate 40; the ball locking screw 39 is mounted on the elastic support 38; the precision rotary table 41 and the precision lifting table 42 are used for adjusting the position of the part to be assembled so that the threaded hole to be assembled is aligned with the screw 13 on the screw pair assembly module 1.
The elastic support 38 is provided with a groove to enable the elastic support to have certain flexibility, and the elastic support 38 can generate elastic deformation by screwing the ball head locking screw 39 so as to press the part on the fixed support.
The collar 12 and the screw driver 13, the collar 12 and the miniature ball bush guide assembly 11 are in interference connection, and the screw driver 13 has certain axial displacement when the miniature ball bush guide assembly 11 can ensure the assembly of a miniature thread pair.
The invention has the beneficial effects that: the screw assembly module 1 is used for assembling the tiny screw pair and controlling torque required by the assembling, the screw clamping module 2 is used for automatically picking up and carrying tiny screws, the workbench module 3 is used for clamping parts to be assembled and adjusting pose, and the screw assembly module 1, the screw clamping module 2 and the workbench module 3 work in a coordinated mode in the assembling process to jointly complete the automatic assembling of the tiny screw pair. The X precision axis displacement sliding table 14 of the screw pair assembly module is matched with the stepping motor 5 to provide the screw motion required by screw pair assembly, and meanwhile, the linear motor 25 of the screw clamping module 2 drives the screw support 36 to ensure that the screw cannot fall off from the screw clamping module 2 in the assembly process. And screw clamping module 2 can go deep into the narrow and small space of part inside and assemble the operation, can also satisfy the assembly demand that has a plurality of screw holes on a part to need the installation screw in addition. The manual intervention is effectively reduced, and the automation degree, the assembly efficiency and the assembly quality are improved.
Drawings
Fig. 1 is a schematic view of the overall structure of an automatic assembling device for a micro thread pair.
Fig. 2 is a schematic structural diagram of the thread pair assembly module.
Fig. 3 is a schematic structural diagram of the screw clamping module.
Fig. 4 is a top view of the front clamping portion of the screw clamping module.
Fig. 5 is a left side view of the front clamping portion of the screw clamping module.
Fig. 6 is a front view of the screw clamping module front clamping section.
Fig. 7 is a schematic structural diagram of the workbench module.
Fig. 8 is a three-dimensional view of part a.
In the figure: 1, assembling a module by a thread pair; 2, clamping the module by a screw; 3 a workbench module; 4 an optical bench; 5, a step motor; 6, mounting a stepping motor; 7, a coupler a; 8, a torque sensor; 9, a coupler b; 10, bearing seats; 11 a miniature ball bushing guide assembly; 12 a collar; 13, screw batch; 14, assembling a module X-axis precision displacement sliding table by a thread pair; 15 a thread pair assembly module Y-axis precision displacement sliding table; 16 vertical welding seats a; 17, clamping a Z-axis precise displacement sliding table of the module by a screw; 18 screw clamping module Y-axis precision displacement sliding table; 19, clamping the X-axis precision displacement sliding table of the module by a screw; 20 vertical welding seats b; 21, mounting a plate; 22 a photosensor; 23 sensor signaling block; 24 air claw limit stop blocks; 25 linear motors; 26 linear motor mounting plates; 27 linear bearings; 28, supporting the mounting plate by using screws; 29 a guide shaft; 30, mounting a pneumatic claw; 31, air claw; 32 micro flange plates; 33 left clamp finger; 34 bearings; 35 right clamping fingers; 36, supporting by a screw; 37, fixedly supporting; 38 is elastically supported; 39 ball head locking screw; 40, mounting a clamp; 41 a precision turntable; 42 precision lift table.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
An automatic assembling device for a tiny thread pair as shown in fig. 1 comprises an optical platform 4, and a thread pair assembling module 1, a screw clamping module 2 and a workbench module 3 which are arranged on the optical platform 4.
The screw pair assembly module 1 shown in fig. 2 comprises a stepping motor 5, a stepping motor mounting plate 6, a coupler a7, a torque sensor 8, a coupler b9, a bearing seat 10, a micro ball bush guide assembly 11, a collar 12, a screw driver 13, a screw pair assembly module X-axis precision displacement sliding table 14, a screw pair assembly module Y-axis precision displacement sliding table 15 and a vertical welding seat a 16. The vertical welding seat a16 is arranged on the optical platform 4; the X-axis precise displacement sliding table 14 of the thread pair assembly module is arranged on the vertical welding seat a16, the Y-axis precise displacement sliding table 15 of the thread pair assembly module is arranged on the mounting surface of the X-axis precise displacement sliding table 14 of the thread pair assembly module, and the X-axis precise displacement sliding table 14 of the thread pair assembly module and the Y-axis precise displacement sliding table 15 of the thread pair assembly module are mutually vertical to form an XY two-degree-of-freedom precise displacement sliding table together for adjusting the position of the screw driver 13; the stepping motor mounting plate 6 is an L-shaped plate, the horizontal end of the stepping motor mounting plate is mounted on the mounting surface of the Y-axis precise displacement sliding table 15 of the screw pair assembly module, and the horizontal end of the motor mounting plate 6 is perpendicular to the Y-axis precise displacement sliding table 15 of the screw pair assembly module and is parallel to the X-axis precise displacement sliding table 14 of the screw pair assembly module; the stepping motor 5 is arranged at the vertical end of the stepping motor mounting plate 6, and a rotating shaft of the stepping motor 5 penetrates through a through hole at the vertical end of the stepping motor mounting plate 6; one end of the coupler a7 is connected with the rotating shaft of the stepping motor 5, and the other end is connected with the output shaft of the torque sensor 8; the torque sensor 8 is arranged on the stepping motor mounting plate 6 and used for detecting a torque signal during assembly of the micro thread pair; one end of the coupler b9 is connected with an output shaft of the torque sensor 8, and the other end of the coupler b9 is connected with the miniature ball bush guide assembly 11; the miniature ball bush guide assembly 11 is arranged on the bearing seat 10; the bearing seat 10 is arranged on the stepping motor mounting plate 6 and used for supporting the miniature ball bush guide assembly 11; one end of the shaft collar 12 is connected with the suspended end of the miniature ball bush guide assembly 11, and the other end of the shaft collar is connected with the screw driver 13; the thread pair assembly module 1 adjusts the position of the screwdriver 13 through the XY two-degree-of-freedom precision displacement sliding table, drives the screwdriver 13 to rotate through the stepping motor 5 to realize screw installation, and simultaneously monitors torque through the torque sensor 8.
The screw clamping module 2 shown in fig. 3, 4, 5 and 6 comprises a screw clamping module Z-axis precision displacement sliding table 17, a screw clamping module Y-axis precision displacement sliding table 18, a screw clamping module X-axis precision displacement sliding table 19, a vertical welding seat b20, a mounting plate 21, a photoelectric sensor 22, a sensor signaling block 23, a pneumatic claw limit stop 24, a linear motor 25, a linear motor mounting plate 26, a linear bearing 27, a screw support mounting plate 28, a guide shaft 29, a pneumatic claw mounting plate 30, a pneumatic claw 31, a micro flange plate 32, a left clamping finger 33, a bearing 34, a right clamping finger 35 and a screw support 36; the X-axis precise displacement sliding table 19 of the screw clamping module is arranged on the vertical welding seat b20, the Y-axis precise displacement sliding table 18 of the screw clamping module is arranged on the installation surface of the X-axis precise displacement sliding table 19 of the screw clamping module, the Z-axis precise displacement sliding table 17 of the screw clamping module is arranged on the installation surface of the Y-axis precise displacement sliding table 18 of the screw clamping module, the Z-axis precise displacement sliding table 17 of the screw clamping module, the Y-axis precise displacement sliding table 18 of the screw clamping module and the X-axis precise displacement sliding table 19 of the screw clamping module are perpendicular to each other in pairs to form an XYZ three-degree-of-freedom precise displacement sliding table together, and the X-axis precise displacement sliding table is used for adjusting the position of a clamped; the mounting surface of the Z-axis precise displacement sliding table 17 of the screw clamping module is provided with a mounting table with a cantilever structure for mounting other equipment; the mounting plate 21 is mounted on a mounting table of the Z-axis precision displacement sliding table 17 of the screw clamping module; the linear motor mounting plate 26 and the air claw mounting plate 30 are both arranged on the mounting plate 21; the linear motor 25 is arranged on the linear motor mounting plate 26, and a rotating shaft of the linear motor 25 penetrates through a through hole in the linear motor mounting plate 26 and is connected to the screw support mounting plate 28 through a micro flange 32; two linear bearings 27 are arranged on the screw supporting and mounting plate 28; the number of the guide shafts 29 is two, and the two guide shafts are respectively arranged on the inner ring of the linear bearing 27 in a sliding manner; one end of the guide shaft 29 is arranged on the linear motor mounting plate 26, and the other end of the guide shaft is arranged on the pneumatic claw mounting plate 30; the linear motor 25 rotates to drive the screw support mounting plate 28 to move on the guide shaft 29; the screw support mounting plate 28 is provided with a bearing 34 for mounting a screw support 36, and the screw support 36 is in interference fit with an inner ring of the bearing 34; the pneumatic claw 31 is arranged on the pneumatic claw mounting plate 30, and the pneumatic claw 31 is provided with a left clamping finger 33 and a right clamping finger 35 which are used for clamping screws; the gas claw limit stop 24 is arranged on the mounting plate 21 and used for limiting the opening stroke of the gas claw 31 and preventing the gas claw 31 from touching the guide shaft 29 when being opened; the photoelectric sensor 22 is arranged on the mounting plate 21; the sensor signaling block 23 is arranged on the screw support mounting plate 28 and is matched with the photoelectric sensor 22 for use, so as to detect the initial position of the screw support 36; the screw clamping module 2 realizes the accurate control of the position of the screw support 36 through the XYZ three-degree-of-freedom precision displacement sliding table and the linear motor 25.
The workbench module 3 shown in fig. 7 comprises a fixed support 37, an elastic support 38, a ball head locking screw 39, a clamp mounting plate 40, a precision rotary table 41 and a precision lifting table 42; the precision lifting platform 42 is arranged on the optical platform 4; the precision rotary table 41 is arranged on the precision lifting table 42; the clamp mounting plate 40 is mounted on the precision rotary table 41; the fixed support 37 and the elastic support 38 are both arranged on the clamp mounting plate 40; the ball locking screw 39 is mounted on the elastic support 38; the precision rotary table 41 and the precision lifting table 42 are used for adjusting the position of the part to be assembled so that the threaded hole to be assembled is aligned with the screw 13 on the screw pair assembly module 1.
The basic flow for executing the thread pair assembling operation of the invention is as follows:
step 1: the part a with threaded holes is first placed between the fixed support 37 and the elastic support 38 on the table module 3, locked by the ball locking screw 39. The screw driver 13 is driven to accurately move to an assembly area by the X-axis precise displacement sliding table 14 of the screw pair assembly module and the Y-axis precise displacement sliding table 15 of the screw pair assembly module. And then the threaded holes on the part A are adjusted by the precision rotary table 41 and the precision lifting table 42 to be aligned with the screw 13.
Step 2: the pneumatic claw 31 in the screw clamping device 2 drives the left clamping finger 33 and the right clamping finger 35 to pick up the screw, and when the screw needs to be clamped and enters the part A to install the screw, the linear motor 25 drives the screw support 36 to abut against the tail end of the clamped screw. And then the position of the screw is adjusted by the screw clamping module Z-axis precise displacement sliding table 17, the screw clamping module Y-axis precise displacement sliding table 18 and the screw clamping module X-axis precise displacement sliding table 19, so that the screw is aligned with the threaded hole on the part A. Finally, driving a screw driver 13 into a groove of a screw by a precise displacement sliding table 14 of an X-axis of the screw pair assembly module to prepare for screwing the screw; when the screws are installed outside the part A, the positions of the screws are adjusted by the screw clamping module Z-axis precise displacement sliding table 17, the screw clamping module Y-axis precise displacement sliding table 18 and the screw clamping module X-axis precise displacement sliding table 19 to be aligned with the threaded holes in the part A, and at the moment, the screw supports 36 need to be placed inside the part A, so that the linear motors 25 are required to drive the screw supports to move for a certain distance, but the screws cannot be in contact with the screws. Then the screw driver 13 is driven into the groove of the screw by the X-axis precision displacement sliding table 14 of the screw pair assembly module. Finally, the screw support 36 is driven by the linear motor 25 to move a certain distance to abut against the tail end of the clamped screw to prepare for screwing.
And step 3: the air claw 31 is opened, the precise X-axis displacement sliding table 14 of the thread pair assembly module is matched with the stepping motor 5 to provide spiral motion required by screwing of the screw, and meanwhile, the linear motor 25 drives the screw support 36 to move backwards by a corresponding distance, so that the screw support 36 is guaranteed to be always propped against the tail end of the screw until the screw is suspended in the threaded hole. If a plurality of threaded holes are formed in the part A and screws need to be installed, the part A is driven to rotate by a corresponding angle by the precision rotary table 41, and the steps 1-3 are repeated to complete installation of other screws. After all the screws are installed, the screw thread pair assembling module 1, the screw clamping module 2 and the workbench module 3 return to the initial positions.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments are merely for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, and those skilled in the art should understand that changes, modifications, additions or substitutions which are made by those skilled in the art within the spirit of the present invention are also within the scope of the claims of the present invention.
Claims (3)
1. The automatic assembling device for the tiny thread pair is characterized by comprising an optical platform (4), and a thread pair assembling module (1), a screw clamping module (2) and a workbench module (3) which are arranged on the optical platform (4);
the thread pair assembly module (1) comprises a stepping motor (5), a stepping motor mounting plate (6), a coupler a (7), a torque sensor (8), a coupler b (9), a bearing seat (10), a micro ball bush guide assembly (11), a shaft collar (12), a screw driver (13), a thread pair assembly module X-axis precise displacement sliding table (14), a thread pair assembly module Y-axis precise displacement sliding table (15) and a vertical welding seat a (16);
the vertical welding seat a (16) is arranged on the optical platform (4); the X-axis precise displacement sliding table (14) of the screw pair assembly module is arranged on the vertical welding seat a (16), the Y-axis precise displacement sliding table (15) of the screw pair assembly module is arranged on the installation surface of the X-axis precise displacement sliding table (14) of the screw pair assembly module, and the X-axis precise displacement sliding table (14) of the screw pair assembly module and the Y-axis precise displacement sliding table (15) of the screw pair assembly module are mutually vertical to form an XY two-degree-of-freedom precise displacement sliding table together for adjusting the position of a screw driver (13); the stepping motor mounting plate (6) is an L-shaped plate, the horizontal end of the stepping motor mounting plate is mounted on the mounting surface of the Y-axis precise displacement sliding table (15) of the screw thread pair assembly module, and the horizontal end of the motor mounting plate (6) is perpendicular to the Y-axis precise displacement sliding table (15) of the screw thread pair assembly module and is parallel to the X-axis precise displacement sliding table (14) of the screw thread pair assembly module; the stepping motor (5) is arranged at the vertical end of the stepping motor mounting plate (6), and a rotating shaft of the stepping motor (5) penetrates through a through hole at the vertical end of the stepping motor mounting plate (6); one end of the coupler a (7) is connected with a rotating shaft of the stepping motor (5), and the other end of the coupler a (7) is connected with an output shaft of the torque sensor (8); the torque sensor (8) is arranged on the stepping motor mounting plate (6) and is used for detecting a torque signal during assembly of the micro thread pair; one end of the coupler b (9) is connected with an output shaft of the torque sensor (8), and the other end of the coupler b is connected with the miniature ball bush guide assembly (11); the miniature ball bush guide assembly (11) is arranged on the bearing seat (10); the bearing seat (10) is arranged on the stepping motor mounting plate (6) and is used for supporting the miniature ball bush guide assembly (11); one end of the shaft collar (12) is connected with the suspended end of the micro ball bush guide assembly (11), and the other end of the shaft collar is connected with the screw driver (13); the thread pair assembly module (1) adjusts the position of the screwdriver (13) through an XY two-degree-of-freedom precision displacement sliding table, drives the screwdriver (13) to rotate through the stepping motor (5) to realize screw installation, and simultaneously monitors torque through the torque sensor (8);
the screw clamping module (2) comprises a screw clamping module Z-axis precise displacement sliding table (17), a screw clamping module Y-axis precise displacement sliding table (18), a screw clamping module X-axis precise displacement sliding table (19), a vertical welding seat b (20), a mounting plate (21), a photoelectric sensor (22), a sensor signaling block (23), a gas claw limit stop (24), a linear motor (25), a linear motor mounting plate (26), a linear bearing (27), a screw supporting mounting plate (28), a guide shaft (29), a gas claw mounting plate (30), a gas claw (31), a micro flange plate (32), a left clamping finger (33), a bearing (34), a right clamping finger (35) and a screw support (36); the X-axis precise displacement sliding table (19) of the screw clamping module is arranged on the vertical welding seat b (20), the Y-axis precise displacement sliding table (18) of the screw clamping module is arranged on the installation surface of the X-axis precise displacement sliding table (19) of the screw clamping module, the Z-axis precise displacement sliding table (17) of the screw clamping module is arranged on the installation surface of the Y-axis precise displacement sliding table (18) of the screw clamping module, the Z-axis precise displacement sliding table (17) of the screw clamping module, the Y-axis precise displacement sliding table (18) of the screw clamping module and the X-axis precise displacement sliding table (19) of the screw clamping module are perpendicular to each other in pairs to form an XYZ three-degree-of-freedom precise displacement sliding table together, and the XYZ three-degree-of-freedom precise displacement sliding table is used for adjusting the; the mounting surface of the Z-axis precise displacement sliding table (17) of the screw clamping module is provided with a mounting table with a cantilever structure for mounting other equipment; the mounting plate (21) is mounted on a mounting table of the Z-axis precision displacement sliding table (17) of the screw clamping module; the linear motor mounting plate (26) and the air claw mounting plate (30) are both arranged on the mounting plate (21); the linear motor (25) is arranged on the linear motor mounting plate (26), and a rotating shaft of the linear motor (25) penetrates through a through hole in the linear motor mounting plate (26) and is connected to the screw support mounting plate (28) through a micro flange (32); two linear bearings (27) are arranged on the screw supporting and mounting plate (28); the number of the guide shafts (29) is two, and the two guide shafts are respectively installed on an inner ring of the linear bearing (27) in a sliding manner; one end of the guide shaft (29) is arranged on the linear motor mounting plate (26), and the other end of the guide shaft is arranged on the pneumatic claw mounting plate (30); the linear motor (25) rotates to drive the screw support mounting plate (28) to move on the guide shaft (29); the screw support mounting plate (28) is provided with a bearing (34) for mounting a screw support (36), and the screw support (36) is in interference fit with an inner ring of the bearing (34); the pneumatic claw (31) is arranged on the pneumatic claw mounting plate (30), and a left clamping finger (33) and a right clamping finger (35) are arranged on the pneumatic claw (31) and used for clamping a screw; the gas claw limit stop (24) is arranged on the mounting plate (21) and used for limiting the opening stroke of the gas claw (31) and avoiding the gas claw (31) from touching the guide shaft (29) when being opened; the photoelectric sensor (22) is arranged on the mounting plate (21); the sensor signaling block (23) is arranged on the screw support mounting plate (28) and is matched with the photoelectric sensor (22) for use, and is used for detecting the initial position of the screw support (36); the screw clamping module (2) realizes the accurate control of the position of the screw support (36) through an XYZ three-degree-of-freedom precision displacement sliding table and a linear motor (25);
the workbench module (3) comprises a fixed support (37), an elastic support (38), a ball head locking screw (39), a clamp mounting plate (40), a precision rotary table (41) and a precision lifting table (42); the precision lifting platform (42) is arranged on the optical platform (4); the precision rotary table (41) is arranged on the precision lifting table (42); the clamp mounting plate (40) is mounted on the precision rotary table (41); the fixed support (37) and the elastic support (38) are both arranged on the clamp mounting plate (40); the ball head locking screw (39) is arranged on the elastic support (38); the precise rotary table (41) and the precise lifting table (42) are used for adjusting the position of the part to be assembled, so that the threaded hole to be assembled is aligned with the screw driver (13) on the thread pair assembly module (1).
2. The automatic assembling device for tiny thread pairs as claimed in claim 1, wherein said elastic support (38) is grooved to make it flexible, and the elastic support (38) can be elastically deformed by tightening the ball locking screw (39) to press the part onto the fixed support.
3. The automatic assembling device for the tiny thread pair is characterized in that interference connections are adopted between the collar (12) and the screw driver (13) and between the collar (12) and the miniature ball bushing guide assembly (11), and the miniature ball bushing guide assembly (11) can ensure that the screw driver (13) has certain axial displacement when the tiny thread pair is assembled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910631469.8A CN110369986B (en) | 2019-07-12 | 2019-07-12 | Automatic assembling device for micro thread pair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN111098252B (en) * | 2020-01-07 | 2021-05-11 | 大连理工大学 | Height-adjustable's small-size frame subassembly modular fixture |
| CN112344884B (en) * | 2020-10-16 | 2022-01-04 | 大连理工大学 | Coaxiality and clearance measuring device for frame assembly |
| CN114850855B (en) * | 2022-05-09 | 2023-05-26 | 西北工业大学 | Automatic leveling device and method for cylinder body of actuator cylinder |
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| JPH09141565A (en) * | 1995-11-24 | 1997-06-03 | Tadahiro Omi | Fastening device |
| CN104259836B (en) * | 2014-07-24 | 2016-06-01 | 大连理工大学 | A kind of small screw thread pair part automatically picks up and assembles device |
| JP2016078204A (en) * | 2014-10-21 | 2016-05-16 | 富士通株式会社 | Conveyance device of fastening member |
| CN105643257A (en) * | 2014-11-14 | 2016-06-08 | 中国航空工业第六八研究所 | Pretension force control device for automatic assembling of micro-miniature thread pairs |
| CN204771488U (en) * | 2015-07-09 | 2015-11-18 | 深圳市联懋塑胶有限公司 | Can screw automatically device of screw |
| CN206811451U (en) * | 2017-03-04 | 2017-12-29 | 安徽智联投资集团有限公司 | A kind of automatic lock screw robot arm device |
| CN108406248A (en) * | 2018-02-06 | 2018-08-17 | 大连理工大学 | A kind of system structure of micro devices assembly equipment |
| CN108581469B (en) * | 2018-05-10 | 2019-05-24 | 大连理工大学 | A kind of locking device and assembly method for micro parts automatic assembling |
| CN208391435U (en) * | 2018-05-15 | 2019-01-18 | 周澳辉 | A kind of small screws automatic screwing device |
| CN109108596B (en) * | 2018-08-22 | 2019-08-09 | 大连理工大学 | Accurate axle hole matching component automatic assembling apparatus and method |
| CN109514222B (en) * | 2018-12-18 | 2020-09-11 | 大连理工大学 | Automatic assembling device and method for cross-scale parts of weak-steel frame type structure |
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